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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8195f5c0d9a800b311ff87242d342361.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_551f50d4f6202563ca607f3aa0b67db1.html">hpp</a></li>  </ul>
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<a href="Pipeline_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Types_8hpp.html">Types.hpp</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">struct </span>PipelineImpl;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">struct </span>ConfigImpl;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceob.html">ob</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">class </span>FrameSet;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">class </span>Frame;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>Device;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>Playback;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">class </span>DeviceInfo;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">class </span>Config;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>StreamProfile;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="namespaceob.html#a079312e9113ca7d35fd7ccb68fb7c7fa">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classob_1_1StreamProfileList.html">StreamProfileList</a>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">typedef</span> std::function&lt;void(std::shared_ptr&lt;FrameSet&gt; frame)&gt; <a class="code" href="namespaceob.html#a079312e9113ca7d35fd7ccb68fb7c7fa">FrameSetCallback</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classob_1_1Pipeline.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1Pipeline.html">Pipeline</a> {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    std::unique_ptr&lt;PipelineImpl&gt; impl_;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <a class="code" href="classob_1_1Pipeline.html">Pipeline</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="classob_1_1Pipeline.html">Pipeline</a>(std::shared_ptr&lt;Device&gt; device);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="classob_1_1Pipeline.html">Pipeline</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    ~<a class="code" href="classob_1_1Pipeline.html">Pipeline</a>() noexcept;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> start(std::shared_ptr&lt;Config&gt; config);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> start(std::shared_ptr&lt;Config&gt; config, <a class="code" href="namespaceob.html#a079312e9113ca7d35fd7ccb68fb7c7fa">FrameSetCallback</a> callback);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">void</span> stop();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    std::shared_ptr&lt;Config&gt; getConfig();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::shared_ptr&lt;FrameSet&gt; waitForFrames(uint32_t timeout_ms);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    std::shared_ptr&lt;Device&gt; getDevice();</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    std::shared_ptr&lt;Playback&gt; getPlayback();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    std::shared_ptr&lt;StreamProfileList&gt; getStreamProfileList(<a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sensorType);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">void</span> enableFrameSync();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">void</span> disableFrameSync();</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <a class="code" href="structOBCameraParam.html">OBCameraParam</a> getCameraParam();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="structOBCameraParam.html">OBCameraParam</a> getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    std::shared_ptr&lt;StreamProfileList&gt; getD2CDepthProfileList(std::shared_ptr&lt;StreamProfile&gt; colorProfile, <a class="code" href="ObTypes_8h.html#ade914070120de80d4338ee74e73dc9d5">OBAlignMode</a> alignMode);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="structOBRect.html">OBRect</a> getD2CValidArea(uint32_t minimumDistance, uint32_t maximumDistance = 0);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">void</span> switchConfig(std::shared_ptr&lt;Config&gt; config);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">void</span> startRecord(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">void</span> stopRecord();</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;};</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classob_1_1Config.html">  191</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1Config.html">Config</a> {</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    std::unique_ptr&lt;ConfigImpl&gt; impl_;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <a class="code" href="classob_1_1Config.html">Config</a>();</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    ~<a class="code" href="classob_1_1Config.html">Config</a>() noexcept;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">void</span> enableStream(std::shared_ptr&lt;StreamProfile&gt; streamProfile);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">void</span> enableAllStream();</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordtype">void</span> disableStream(<a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2">OBStreamType</a> streamType);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordtype">void</span> disableAllStream();</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordtype">void</span> setAlignMode(<a class="code" href="ObTypes_8h.html#ade914070120de80d4338ee74e73dc9d5">OBAlignMode</a> mode);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordtype">void</span> setDepthScaleRequire(<span class="keywordtype">bool</span> enable);</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordtype">void</span> setD2CTargetResolution(uint32_t d2cTargetWidth, uint32_t d2cTargetHeight);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classob_1_1Config.html#af9f0f1adbd5baee7830839447205af8d">  256</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classob_1_1Pipeline.html">Pipeline</a>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;};</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;}  <span class="comment">// namespace ob</span></div><div class="ttc" id="classob_1_1Config_html"><div class="ttname"><a href="classob_1_1Config.html">ob::Config</a></div><div class="ttdoc">Config class for configuring pipeline parameters. </div><div class="ttdef"><b>Definition:</b> <a href="Pipeline_8hpp_source.html#l00191">Pipeline.hpp:191</a></div></div>
<div class="ttc" id="namespaceob_html"><div class="ttname"><a href="namespaceob.html">ob</a></div><div class="ttdef"><b>Definition:</b> <a href="Context_8hpp_source.html#l00016">Context.hpp:16</a></div></div>
<div class="ttc" id="namespaceob_html_a079312e9113ca7d35fd7ccb68fb7c7fa"><div class="ttname"><a href="namespaceob.html#a079312e9113ca7d35fd7ccb68fb7c7fa">ob::FrameSetCallback</a></div><div class="ttdeci">std::function&lt; void(std::shared_ptr&lt; FrameSet &gt; frame)&gt; FrameSetCallback</div><div class="ttdef"><b>Definition:</b> <a href="Pipeline_8hpp_source.html#l00024">Pipeline.hpp:24</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a0bf6f74f3eaabbf4a71720b9363b2aa8"><div class="ttname"><a href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a></div><div class="ttdeci">OBSensorType</div><div class="ttdoc">Enumeration value describing the sensor type. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00154">ObTypes.h:154</a></div></div>
<div class="ttc" id="structOBCameraParam_html"><div class="ttname"><a href="structOBCameraParam.html">OBCameraParam</a></div><div class="ttdoc">Structure for camera parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00375">ObTypes.h:375</a></div></div>
<div class="ttc" id="Types_8hpp_html"><div class="ttname"><a href="Types_8hpp.html">Types.hpp</a></div><div class="ttdoc">Provides SDK structure and enumeration constant definitions (depending on libobsensor/h/ObTypes.h). </div></div>
<div class="ttc" id="structOBRect_html"><div class="ttname"><a href="structOBRect.html">OBRect</a></div><div class="ttdoc">Rectangle. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00421">ObTypes.h:421</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2">OBStreamType</a></div><div class="ttdeci">OBStreamType</div><div class="ttdoc">Enumeration value describing the type of data stream. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00170">ObTypes.h:170</a></div></div>
<div class="ttc" id="classob_1_1Pipeline_html"><div class="ttname"><a href="classob_1_1Pipeline.html">ob::Pipeline</a></div><div class="ttdef"><b>Definition:</b> <a href="Pipeline_8hpp_source.html#l00028">Pipeline.hpp:28</a></div></div>
<div class="ttc" id="classob_1_1StreamProfileList_html"><div class="ttname"><a href="classob_1_1StreamProfileList.html">ob::StreamProfileList</a></div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00176">StreamProfile.hpp:176</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ade914070120de80d4338ee74e73dc9d5"><div class="ttname"><a href="ObTypes_8h.html#ade914070120de80d4338ee74e73dc9d5">OBAlignMode</a></div><div class="ttdeci">OBAlignMode</div><div class="ttdoc">Alignment mode. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00411">ObTypes.h:411</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aa0add2ff45ff52cc75dc92d44f883fbf"><div class="ttname"><a href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a></div><div class="ttdeci">#define OB_EXTENSION_API</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00028">ObTypes.h:28</a></div></div>
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